whitespace and formatting cleanups from latest commit
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7c723cb184
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@ -246,7 +246,7 @@ static void resetConf(void)
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cfg.P8[PIDVEL] = 0;
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cfg.I8[PIDVEL] = 0;
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cfg.D8[PIDVEL] = 0;
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cfg.P_f[ROLL] = 2.5f; // new PID with preliminary defaults test carefully
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cfg.I_f[ROLL] = 0.3f;
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cfg.D_f[ROLL] = 0.06f;
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@ -258,7 +258,7 @@ static void resetConf(void)
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cfg.D_f[YAW] = 0.05f;
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cfg.A_level = 5.0f;
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cfg.H_level = 3.0f;
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cfg.rcRate8 = 90;
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cfg.rcExpo8 = 65;
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cfg.rollPitchRate = 0;
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28
src/serial.c
28
src/serial.c
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@ -259,7 +259,7 @@ void serialInit(uint32_t baudrate)
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availableBoxes[idx++] = BOXGPSHOME;
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availableBoxes[idx++] = BOXGPSHOLD;
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}
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if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || mcfg.mixerConfiguration == MULTITYPE_AIRPLANE)
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if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || mcfg.mixerConfiguration == MULTITYPE_AIRPLANE)
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availableBoxes[idx++] = BOXPASSTHRU;
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availableBoxes[idx++] = BOXBEEPERON;
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if (feature(FEATURE_INFLIGHT_ACC_CAL))
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@ -303,19 +303,17 @@ static void evaluateCommand(void)
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cfg.D_f[i] = (float)read8() / 1000.0f;
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}
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for (i = 3; i < PIDITEMS; i++) {
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if(i == PIDLEVEL) {
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if (i == PIDLEVEL) {
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cfg.A_level = (float)read8() / 10.0f;
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cfg.H_level = (float)read8() / 10.0f;
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read8();
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}
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else {
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} else {
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cfg.P8[i] = read8();
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cfg.I8[i] = read8();
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cfg.D8[i] = read8();
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}
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}
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}
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else {
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} else {
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for (i = 0; i < PIDITEMS; i++) {
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cfg.P8[i] = read8();
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cfg.I8[i] = read8();
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@ -500,24 +498,22 @@ static void evaluateCommand(void)
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headSerialReply(3 * PIDITEMS);
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if (cfg.pidController == 2) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid
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for (i = 0; i < 3; i++) {
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serialize8(constrain(lrintf(cfg.P_f[i] * 10.0f) ,0 ,250));
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serialize8(constrain(lrintf(cfg.I_f[i] * 100.0f) ,0 ,250));
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serialize8(constrain(lrintf(cfg.D_f[i] * 1000.0f) ,0 ,100));
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serialize8(constrain(lrintf(cfg.P_f[i] * 10.0f), 0, 250));
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serialize8(constrain(lrintf(cfg.I_f[i] * 100.0f), 0, 250));
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serialize8(constrain(lrintf(cfg.D_f[i] * 1000.0f), 0, 100));
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}
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for (i = 3; i < PIDITEMS; i++) {
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if (i == PIDLEVEL) {
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serialize8(constrain(lrintf(cfg.A_level * 10.0f) ,0 ,250));
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serialize8(constrain(lrintf(cfg.H_level * 10.0f) ,0 ,250));
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serialize8(0);
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}
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else {
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serialize8(constrain(lrintf(cfg.A_level * 10.0f), 0, 250));
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serialize8(constrain(lrintf(cfg.H_level * 10.0f), 0, 250));
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serialize8(0);
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} else {
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serialize8(cfg.P8[i]);
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serialize8(cfg.I8[i]);
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serialize8(cfg.D8[i]);
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}
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}
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}
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else {
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} else {
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for (i = 0; i < PIDITEMS; i++) {
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serialize8(cfg.P8[i]);
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serialize8(cfg.I8[i]);
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